Was having an issue with ABS, ESP, and another light on my 2000 Mercedes E320. I read many articals telling me brake light switch and speed sensor. I replaced the brake switch but nothing happened. So I read some more and found that lots of people replaced the steering angel sensor so I figured why not. Ordered it through Parts Geek. Was the cheapest one I found on line and got it fast in 3 or 4 days. Was easy to install. Remove the battery cables, take 2 screws out from behind the steering wheel to remove airbag. Removed the steering wheel and 2 screws and there was the sensor. Snaps out and new one snaps in. The whole thing took 15 minutes or less. When it's all back together, start the care and turn your wheel all the way left and all the way right a couple times and the lights go out. So if you take it to the dealer and they try to charge you tons of money for labor, they are lying to you. I'm no pro nor have I done this before.